Unit Separator is Control-_ (underscore) and Record Separator is Control-^ (caret), for instance.Most modern text editors won't pass through every control character. Vim lets me type the unit separator, but not the record separator, for instance.
Vim has bindings for some control key combos, which is why you can't type them directly. I can type control-_ without issue, but to get an ASCII 30 (RS) to show up, I have to type control-v first (just like when at the shell prompt).
Useful hint: if you look at the output of man ascii (at least on linux with man-pages-3.22) find the control character you want to type in the left column and look in the same row on in the right column to find the letter/key to use with the control key.
For example, to type NAK, it's <control-u>. Vertical tab is <control-k>:
$ echo <control-v><control-k> | od -c
0000000 \v \n
This is useful for control characters that don't have backslash escape expansions.